This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the ...

This paper presents an algorithm to plain locally frictionless grasp on 3D objects. The objects can be of any arbitrary shape, since the surface is discretized in a cloud of points. The planning algorithm finds an initial ...

The correct grasp of objects is a key aspect for the right fulfillment of a given task. In robotics, the development of grippers more and more complex and versatile, such as mechanical hands, augments the necessity for ...

Independent Contact Regions provide robustness in front of finger positioning errors during an object grasping. However, different sources of uncertainty may be present like, for instance, the friction model used in ...

This paper presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on a sampling method, which ...